\hypertarget{classHelper}{
\section{Helper Class Reference}
\label{classHelper}\index{Helper@{Helper}}
}
\subsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\hyperlink{classHelper_a59924530b7cfbc3d32134a1cf5de2a56}{Helper} ()
\item 
unsigned long int \hyperlink{classHelper_a58eb1df824ee417e918d7066120886f7}{uSecondsSinceStart} ()
\item 
void \hyperlink{classHelper_a0c44aeaa13ff3abb4ff9a33362c0c6c1}{restartuSeconds} ()
\item 
void \hyperlink{classHelper_a53b99bb6c9777901242656867ed67fff}{setRowWidth} (const int \&)
\item 
\hypertarget{classHelper_a4d1532e3e0135776f670467c3f60ed15}{
{\footnotesize template$<$class T $>$ }\\string {\bfseries inRow} (const T \&)}
\label{classHelper_a4d1532e3e0135776f670467c3f60ed15}

\item 
\hypertarget{classHelper_a0fb1a7f43802faea0332b5a527ad33f5}{
{\footnotesize template$<$class T $>$ }\\string {\bfseries inRow} (const vector$<$ T $>$ \&)}
\label{classHelper_a0fb1a7f43802faea0332b5a527ad33f5}

\item 
\hypertarget{classHelper_a179ca39d8f7f4141f573c2bbb90ad8aa}{
{\footnotesize template$<$class T $>$ }\\string {\bfseries inRow} (const T \&, const int \&)}
\label{classHelper_a179ca39d8f7f4141f573c2bbb90ad8aa}

\item 
\hypertarget{classHelper_aa494694186e5707b656faefeb328709f}{
{\footnotesize template$<$class T $>$ }\\void {\bfseries echo} (const T \&)}
\label{classHelper_aa494694186e5707b656faefeb328709f}

\item 
\hypertarget{classHelper_ab0e07920994169b035c0dadcfd02d581}{
{\footnotesize template$<$class T $>$ }\\void {\bfseries echo} (const T \&, const T \&)}
\label{classHelper_ab0e07920994169b035c0dadcfd02d581}

\item 
\hypertarget{classHelper_ac9ac701a452f70e6152fc82e4a5b85cd}{
{\footnotesize template$<$class T $>$ }\\void {\bfseries echo} (const T \&, const T \&, const T \&)}
\label{classHelper_ac9ac701a452f70e6152fc82e4a5b85cd}

\item 
\hypertarget{classHelper_a72084537a2a235f736291ea721987fdb}{
{\footnotesize template$<$class T $>$ }\\void {\bfseries echo} (const vector$<$ T $>$ \&)}
\label{classHelper_a72084537a2a235f736291ea721987fdb}

\item 
\hypertarget{classHelper_ab786004c90c51a1d9c9e2ad36d8cbf48}{
{\footnotesize template$<$class T $>$ }\\void {\bfseries echoBr} (const T \&)}
\label{classHelper_ab786004c90c51a1d9c9e2ad36d8cbf48}

\item 
\hypertarget{classHelper_a0946a5919cc940688ac9bf9558f8b94d}{
{\footnotesize template$<$class T $>$ }\\void {\bfseries echoBr} (const T \&, const T \&)}
\label{classHelper_a0946a5919cc940688ac9bf9558f8b94d}

\item 
\hypertarget{classHelper_adf59e8bb5b7a273784fe853c8c0d9760}{
{\footnotesize template$<$class T $>$ }\\void {\bfseries echoBr} (const T \&, const T \&, const T \&)}
\label{classHelper_adf59e8bb5b7a273784fe853c8c0d9760}

\item 
\hypertarget{classHelper_abe69ddfd23f6d1f557e145e50def8ac6}{
{\footnotesize template$<$class T $>$ }\\void {\bfseries echoBr} (const vector$<$ T $>$ \&)}
\label{classHelper_abe69ddfd23f6d1f557e145e50def8ac6}

\item 
void \hyperlink{classHelper_af4fcef11ef8f781c90cee2ba176ec521}{setRowSize} (const int \&)
\end{DoxyCompactItemize}
\subsection*{Static Public Member Functions}
\begin{DoxyCompactItemize}
\item 
static int \hyperlink{classHelper_af310a6096bddd62349e079a38c1cb262}{getch} ()
\item 
static int \hyperlink{classHelper_a5e455435fde35e17e92eb5c86da160d5}{kbhit} ()
\item 
\hypertarget{classHelper_ac7160341c7c6466495a85cfb3025e2f2}{
static \hyperlink{classHelper}{Helper} $\ast$ {\bfseries getInstance} ()}
\label{classHelper_ac7160341c7c6466495a85cfb3025e2f2}

\item 
static string \hyperlink{classHelper_ae07f060871ece1f065a82afa201e779b}{str2UpperCase} (const string \&)
\item 
static void \hyperlink{classHelper_a213de41335d301f71a2e717777caa89b}{specialSleep} (const unsigned \&)
\item 
static pair$<$ unsigned long int, unsigned long int $>$ \hyperlink{classHelper_a39ef263c9231d047476673cef6830967}{secAnduSec} ()
\item 
static unsigned long int \hyperlink{classHelper_ae66525ac48753d71d802b053cd9d4178}{uSeconds} ()
\item 
static unsigned long int \hyperlink{classHelper_a651de62f9290759d729df28b9f1d6c89}{seconds} ()
\item 
static char \hyperlink{classHelper_a31345c5b0d3a2ab7f8b58d9f97b8657e}{num2Char} (int)
\item 
\hypertarget{classHelper_aaf0a9b9f1c768acbd4d7e4764ca406fb}{
{\footnotesize template$<$class in\_\-value , class out\_\-value $>$ }\\static void {\bfseries convert} (const in\_\-value \&ival, out\_\-value \&oval)}
\label{classHelper_aaf0a9b9f1c768acbd4d7e4764ca406fb}

\item 
\hypertarget{classHelper_aee280f3720c7185da3a1396fcc45c3d3}{
{\footnotesize template$<$class T $>$ }\\static string {\bfseries toString} (const T \&)}
\label{classHelper_aee280f3720c7185da3a1396fcc45c3d3}

\item 
\hypertarget{classHelper_aa7776f5e90177a8bd03ee4f1ee43384f}{
{\footnotesize template$<$class T $>$ }\\static T {\bfseries abs} (const T \&)}
\label{classHelper_aa7776f5e90177a8bd03ee4f1ee43384f}

\item 
\hypertarget{classHelper_a177327a86b2bbd9ec4c2df38a19743e5}{
{\footnotesize template$<$class T $>$ }\\static T {\bfseries getMax} (const T \&, const T \&)}
\label{classHelper_a177327a86b2bbd9ec4c2df38a19743e5}

\item 
\hypertarget{classHelper_ad314c7f6cf810c8da0d8771a55fe2bc0}{
{\footnotesize template$<$class T $>$ }\\static bool {\bfseries has} (const vector$<$ T $>$ \&, const T \&)}
\label{classHelper_ad314c7f6cf810c8da0d8771a55fe2bc0}

\item 
\hypertarget{classHelper_af83c5cf77492aebbce4aa0992741fa3f}{
{\footnotesize template$<$class T $>$ }\\static int {\bfseries locate} (const vector$<$ T $>$ \&, const T \&)}
\label{classHelper_af83c5cf77492aebbce4aa0992741fa3f}

\item 
\hypertarget{classHelper_a7488811eef8f8d2c393e182c1c22ea33}{
{\footnotesize template$<$class T $>$ }\\static vector$<$ T $>$ {\bfseries sort} (const vector$<$ T $>$ \&)}
\label{classHelper_a7488811eef8f8d2c393e182c1c22ea33}

\item 
static \hyperlink{structLimbCoordinates}{LimbCoordinates} \hyperlink{classHelper_abc864cbfae3b0021fec149776b4d2ce0}{vectorDifference} (const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&, const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&)
\item 
static \hyperlink{structLimbCoordinates}{LimbCoordinates} \hyperlink{classHelper_af01207ddd47379314a7b9f88ff2b656d}{vectorSum} (const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&, const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&)
\item 
static \hyperlink{structEulerRotation}{EulerRotation} \hyperlink{classHelper_ad2e619d55eeb5f2e727cb3fff1f16484}{vectorAngles} (const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&)
\item 
static float \hyperlink{classHelper_a9d5e7130ec677185eed512648cea7753}{vectorLength} (const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&)
\item 
static float \hyperlink{classHelper_a428aa2b6e98de3265160839b8a9d90dd}{scalarProduct} (const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&, const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&)
\item 
static \hyperlink{structLimbCoordinates}{LimbCoordinates} \hyperlink{classHelper_a28f8794505ffca7525c950595a380035}{normalize} (const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&)
\item 
static \hyperlink{structLimbCoordinates}{LimbCoordinates} \hyperlink{classHelper_ae7553e9c0e8f9c926a5f2d054d4ed99d}{multiply} (const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&, float)
\item 
static \hyperlink{structLimbCoordinates}{LimbCoordinates} \hyperlink{classHelper_a9a8b68baa1c84bf3886489e76c7d9951}{vectorProduct} (const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&, const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&)
\item 
static float \hyperlink{classHelper_a8247553942b803f8a9a9598c5543c4a2}{angleBetweenVectors} (const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&, const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&)
\item 
static vector$<$ float $>$ \hyperlink{classHelper_a0437d2944cfd6dd6b446fe14940b0518}{vectorAngles2} (const \hyperlink{structLimbCoordinates}{LimbCoordinates} \&)
\item 
static \hyperlink{structLimbCoordinates}{LimbCoordinates} \hyperlink{classHelper_a2255b24c7cf22a501f2edff436294349}{rotate} (float, float, float, float, float, float)
\item 
static \hyperlink{structLimbCoordinates}{LimbCoordinates} \hyperlink{classHelper_a9baf1a3c1e905f4c0a6eab636dfb49cc}{rotate} (\hyperlink{structLimbCoordinates}{LimbCoordinates}, float, float, float)
\item 
static \hyperlink{structLimbCoordinates}{LimbCoordinates} \hyperlink{classHelper_a5a2e9dd4a8aee4800d0da513290c4ccc}{rotate} (\hyperlink{structLimbCoordinates}{LimbCoordinates}, \hyperlink{structEulerRotation}{EulerRotation})
\item 
static vector$<$ float $>$ \hyperlink{classHelper_a116f977e6308bd37ce24793969b4492a}{unitCirclePoint} (vector$<$ float $>$)
\item 
static vector$<$ float $>$ \hyperlink{classHelper_a595867363dc9fb28e03031b6c0137bf8}{unitCirclePoint} (\hyperlink{structEulerRotation}{EulerRotation})
\item 
static vector$<$ float $>$ \hyperlink{classHelper_afa41ef859921304ac59f929d1fd2d198}{unitCirclePoint} (vector$<$ float $>$, float)
\item 
static float \hyperlink{classHelper_ae8648fd390b8435d8cd26cfcee334432}{unitCircleDistance} (vector$<$ float $>$, vector$<$ float $>$)
\item 
static void \hyperlink{classHelper_ad062c1e9734c97ad2b6ed84ad9bb6bf5}{print2DecimalPlaces} (const vector$<$ float $>$ \&)
\item 
static bool \hyperlink{classHelper_a2ba49d32f8786d3ce542430fcad21c4b}{fileExists} (const char $\ast$)
\item 
\hypertarget{classHelper_a4289e57230265e053a02b3b7c8101653}{
{\footnotesize template$<$class T $>$ }\\static void {\bfseries checkSize} (const vector$<$ T $>$ \&, const vector$<$ T $>$ \&)}
\label{classHelper_a4289e57230265e053a02b3b7c8101653}

\item 
\hypertarget{classHelper_a326a6c6f5b0d142690552099f5da4122}{
{\footnotesize template$<$class T $>$ }\\static vector$<$ T $>$ {\bfseries vectorDifference} (const vector$<$ T $>$ \&, const vector$<$ T $>$ \&)}
\label{classHelper_a326a6c6f5b0d142690552099f5da4122}

\item 
\hypertarget{classHelper_a09844a4433617bfe28f66ab3aba9c4af}{
{\footnotesize template$<$class T $>$ }\\static vector$<$ T $>$ {\bfseries vectorSum} (const vector$<$ T $>$ \&, const vector$<$ T $>$ \&)}
\label{classHelper_a09844a4433617bfe28f66ab3aba9c4af}

\item 
\hypertarget{classHelper_ad96cb9aea9e9fe54872f8bdaf2c8cbb6}{
{\footnotesize template$<$class T $>$ }\\static float {\bfseries vectorLength} (const vector$<$ T $>$ \&)}
\label{classHelper_ad96cb9aea9e9fe54872f8bdaf2c8cbb6}

\item 
\hypertarget{classHelper_a42dd358d55e590b453fe3fc96ea3aa6d}{
{\footnotesize template$<$class T $>$ }\\static vector$<$ double $>$ {\bfseries normalize} (const vector$<$ T $>$ \&)}
\label{classHelper_a42dd358d55e590b453fe3fc96ea3aa6d}

\item 
\hypertarget{classHelper_a1f22ff8bf6f897b73f9cac38102e518d}{
{\footnotesize template$<$class T $>$ }\\static float {\bfseries scalarProduct} (const vector$<$ T $>$ \&, const vector$<$ T $>$ \&)}
\label{classHelper_a1f22ff8bf6f897b73f9cac38102e518d}

\item 
\hypertarget{classHelper_a72b8b94e50c314ffc15cfe8b3651e8c9}{
{\footnotesize template$<$class T $>$ }\\static float {\bfseries angleBetweenVectors} (const vector$<$ T $>$ \&, const vector$<$ T $>$ \&)}
\label{classHelper_a72b8b94e50c314ffc15cfe8b3651e8c9}

\item 
\hypertarget{classHelper_a0a07e40d0ba80e78b6f0ce36aec80765}{
{\footnotesize template$<$class T $>$ }\\static void {\bfseries print} (const vector$<$ T $>$ \&)}
\label{classHelper_a0a07e40d0ba80e78b6f0ce36aec80765}

\item 
\hypertarget{classHelper_ab1ec99f89d87d43e810ee35119a08b67}{
{\footnotesize template$<$class T $>$ }\\static string {\bfseries toString} (const vector$<$ T $>$ \&)}
\label{classHelper_ab1ec99f89d87d43e810ee35119a08b67}

\item 
\hypertarget{classHelper_acce1a117e4dc7e6ec245286955a5d41d}{
{\footnotesize template$<$class T $>$ }\\static bool {\bfseries equal} (const vector$<$ T $>$ \&, const vector$<$ T $>$ \&)}
\label{classHelper_acce1a117e4dc7e6ec245286955a5d41d}

\end{DoxyCompactItemize}


\subsection{Constructor \& Destructor Documentation}
\hypertarget{classHelper_a59924530b7cfbc3d32134a1cf5de2a56}{
\index{Helper@{Helper}!Helper@{Helper}}
\index{Helper@{Helper}!Helper@{Helper}}
\subsubsection[{Helper}]{\setlength{\rightskip}{0pt plus 5cm}Helper::Helper ()}}
\label{classHelper_a59924530b7cfbc3d32134a1cf5de2a56}
Constructor The class can be used with or without constructor. Both is possible. The echo fetures are only available on a valid instance. This can be done via getInstance or the constructor. 

\subsection{Member Function Documentation}
\hypertarget{classHelper_a8247553942b803f8a9a9598c5543c4a2}{
\index{Helper@{Helper}!angleBetweenVectors@{angleBetweenVectors}}
\index{angleBetweenVectors@{angleBetweenVectors}!Helper@{Helper}}
\subsubsection[{angleBetweenVectors}]{\setlength{\rightskip}{0pt plus 5cm}float Helper::angleBetweenVectors (const {\bf LimbCoordinates} \& {\em vec1}, \/  const {\bf LimbCoordinates} \& {\em vec2})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a8247553942b803f8a9a9598c5543c4a2}
Returns the angle between the two vectors. We assume all components of vec1 always to be positive. Works only for outputs in the range of 0..PI. There is no signum set. \hypertarget{classHelper_a2ba49d32f8786d3ce542430fcad21c4b}{
\index{Helper@{Helper}!fileExists@{fileExists}}
\index{fileExists@{fileExists}!Helper@{Helper}}
\subsubsection[{fileExists}]{\setlength{\rightskip}{0pt plus 5cm}bool Helper::fileExists (const char $\ast$ {\em filename})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a2ba49d32f8786d3ce542430fcad21c4b}
Returns true if the file at the given path exists. \hypertarget{classHelper_af310a6096bddd62349e079a38c1cb262}{
\index{Helper@{Helper}!getch@{getch}}
\index{getch@{getch}!Helper@{Helper}}
\subsubsection[{getch}]{\setlength{\rightskip}{0pt plus 5cm}int Helper::getch (void)\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_af310a6096bddd62349e079a38c1cb262}
\hyperlink{classHelper_af310a6096bddd62349e079a38c1cb262}{getch()} -\/-\/ a blocking single character input from stdin

Returns a character, or -\/1 if an input error occurs.

Conditionals allow compiling with or without echoing of the input characters, and with or without flushing pre-\/existing existing buffered input before blocking. \hypertarget{classHelper_a5e455435fde35e17e92eb5c86da160d5}{
\index{Helper@{Helper}!kbhit@{kbhit}}
\index{kbhit@{kbhit}!Helper@{Helper}}
\subsubsection[{kbhit}]{\setlength{\rightskip}{0pt plus 5cm}int Helper::kbhit (void)\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a5e455435fde35e17e92eb5c86da160d5}
\hyperlink{classHelper_a5e455435fde35e17e92eb5c86da160d5}{kbhit()} -\/-\/ a keyboard lookahead monitor

returns the number of characters available to read. \hypertarget{classHelper_ae7553e9c0e8f9c926a5f2d054d4ed99d}{
\index{Helper@{Helper}!multiply@{multiply}}
\index{multiply@{multiply}!Helper@{Helper}}
\subsubsection[{multiply}]{\setlength{\rightskip}{0pt plus 5cm}{\bf LimbCoordinates} Helper::multiply (const {\bf LimbCoordinates} \& {\em vec}, \/  float {\em factor})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_ae7553e9c0e8f9c926a5f2d054d4ed99d}
Returns the given vector streched by the given factor. result = vec1 $\ast$ factor \hypertarget{classHelper_a28f8794505ffca7525c950595a380035}{
\index{Helper@{Helper}!normalize@{normalize}}
\index{normalize@{normalize}!Helper@{Helper}}
\subsubsection[{normalize}]{\setlength{\rightskip}{0pt plus 5cm}{\bf LimbCoordinates} Helper::normalize (const {\bf LimbCoordinates} \& {\em vec})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a28f8794505ffca7525c950595a380035}
Normalizes the given vector to the length 1. \hypertarget{classHelper_a31345c5b0d3a2ab7f8b58d9f97b8657e}{
\index{Helper@{Helper}!num2Char@{num2Char}}
\index{num2Char@{num2Char}!Helper@{Helper}}
\subsubsection[{num2Char}]{\setlength{\rightskip}{0pt plus 5cm}char Helper::num2Char (int {\em num})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a31345c5b0d3a2ab7f8b58d9f97b8657e}
Converts a integer number to an ascii character. There is no range checking. The intention is only to use numbers between 1 and 24. 1 gets to A. \hypertarget{classHelper_ad062c1e9734c97ad2b6ed84ad9bb6bf5}{
\index{Helper@{Helper}!print2DecimalPlaces@{print2DecimalPlaces}}
\index{print2DecimalPlaces@{print2DecimalPlaces}!Helper@{Helper}}
\subsubsection[{print2DecimalPlaces}]{\setlength{\rightskip}{0pt plus 5cm}void Helper::print2DecimalPlaces (const vector$<$ float $>$ \& {\em vec})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_ad062c1e9734c97ad2b6ed84ad9bb6bf5}
Prints the given vector to standard output. \hypertarget{classHelper_a0c44aeaa13ff3abb4ff9a33362c0c6c1}{
\index{Helper@{Helper}!restartuSeconds@{restartuSeconds}}
\index{restartuSeconds@{restartuSeconds}!Helper@{Helper}}
\subsubsection[{restartuSeconds}]{\setlength{\rightskip}{0pt plus 5cm}void Helper::restartuSeconds ()}}
\label{classHelper_a0c44aeaa13ff3abb4ff9a33362c0c6c1}
Resets the starting point for \hyperlink{classHelper_a58eb1df824ee417e918d7066120886f7}{uSecondsSinceStart()}. Since the class is a singleton the reset applies for any usage! \hypertarget{classHelper_a5a2e9dd4a8aee4800d0da513290c4ccc}{
\index{Helper@{Helper}!rotate@{rotate}}
\index{rotate@{rotate}!Helper@{Helper}}
\subsubsection[{rotate}]{\setlength{\rightskip}{0pt plus 5cm}{\bf LimbCoordinates} Helper::rotate ({\bf LimbCoordinates} {\em c}, \/  {\bf EulerRotation} {\em r})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a5a2e9dd4a8aee4800d0da513290c4ccc}
Rotates the point at the given coordinate. This method rotates first around the x, then y and finally around the z axis. The new coordinates are returned. \hypertarget{classHelper_a9baf1a3c1e905f4c0a6eab636dfb49cc}{
\index{Helper@{Helper}!rotate@{rotate}}
\index{rotate@{rotate}!Helper@{Helper}}
\subsubsection[{rotate}]{\setlength{\rightskip}{0pt plus 5cm}{\bf LimbCoordinates} Helper::rotate ({\bf LimbCoordinates} {\em c}, \/  float {\em r1}, \/  float {\em r2}, \/  float {\em r3})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a9baf1a3c1e905f4c0a6eab636dfb49cc}
Rotates the point at the given coordinate. This method rotates first around the x, then y and finally around the z axis. The new coordinates are returned. \hypertarget{classHelper_a2255b24c7cf22a501f2edff436294349}{
\index{Helper@{Helper}!rotate@{rotate}}
\index{rotate@{rotate}!Helper@{Helper}}
\subsubsection[{rotate}]{\setlength{\rightskip}{0pt plus 5cm}{\bf LimbCoordinates} Helper::rotate (float {\em x}, \/  float {\em y}, \/  float {\em z}, \/  float {\em r1}, \/  float {\em r2}, \/  float {\em r3})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a2255b24c7cf22a501f2edff436294349}
Rotates the point at the given coordinate. This method rotates first around the x, then y and finally around the z axis. The new coordinates are returned. \hypertarget{classHelper_a428aa2b6e98de3265160839b8a9d90dd}{
\index{Helper@{Helper}!scalarProduct@{scalarProduct}}
\index{scalarProduct@{scalarProduct}!Helper@{Helper}}
\subsubsection[{scalarProduct}]{\setlength{\rightskip}{0pt plus 5cm}float Helper::scalarProduct (const {\bf LimbCoordinates} \& {\em vec1}, \/  const {\bf LimbCoordinates} \& {\em vec2})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a428aa2b6e98de3265160839b8a9d90dd}
Returns the scalar product of the two given vectors. \hypertarget{classHelper_a39ef263c9231d047476673cef6830967}{
\index{Helper@{Helper}!secAnduSec@{secAnduSec}}
\index{secAnduSec@{secAnduSec}!Helper@{Helper}}
\subsubsection[{secAnduSec}]{\setlength{\rightskip}{0pt plus 5cm}pair$<$ unsigned long int, unsigned long int $>$ Helper::secAnduSec ()\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a39ef263c9231d047476673cef6830967}
Returns a pair of two numbers. The first one tells the seconds since January 1, 1970. The second number tells the microseconds since the last full second. \hypertarget{classHelper_a651de62f9290759d729df28b9f1d6c89}{
\index{Helper@{Helper}!seconds@{seconds}}
\index{seconds@{seconds}!Helper@{Helper}}
\subsubsection[{seconds}]{\setlength{\rightskip}{0pt plus 5cm}unsigned long int Helper::seconds ()\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a651de62f9290759d729df28b9f1d6c89}
Returns the seconds since January 1, 1970. \hypertarget{classHelper_af4fcef11ef8f781c90cee2ba176ec521}{
\index{Helper@{Helper}!setRowSize@{setRowSize}}
\index{setRowSize@{setRowSize}!Helper@{Helper}}
\subsubsection[{setRowSize}]{\setlength{\rightskip}{0pt plus 5cm}void Helper::setRowSize (const int \& {\em newSize})}}
\label{classHelper_af4fcef11ef8f781c90cee2ba176ec521}
Sets the row width for inRow, echoBr ... Synonym to setRowWidth. \hypertarget{classHelper_a53b99bb6c9777901242656867ed67fff}{
\index{Helper@{Helper}!setRowWidth@{setRowWidth}}
\index{setRowWidth@{setRowWidth}!Helper@{Helper}}
\subsubsection[{setRowWidth}]{\setlength{\rightskip}{0pt plus 5cm}void Helper::setRowWidth (const int \& {\em newEchoMax})}}
\label{classHelper_a53b99bb6c9777901242656867ed67fff}
Sets the row width for inRow, echoBr ... \hypertarget{classHelper_a213de41335d301f71a2e717777caa89b}{
\index{Helper@{Helper}!specialSleep@{specialSleep}}
\index{specialSleep@{specialSleep}!Helper@{Helper}}
\subsubsection[{specialSleep}]{\setlength{\rightskip}{0pt plus 5cm}void Helper::specialSleep (const unsigned \& {\em microseconds})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a213de41335d301f71a2e717777caa89b}
Simple platform independent sleep function. Author: Lars \hypertarget{classHelper_ae07f060871ece1f065a82afa201e779b}{
\index{Helper@{Helper}!str2UpperCase@{str2UpperCase}}
\index{str2UpperCase@{str2UpperCase}!Helper@{Helper}}
\subsubsection[{str2UpperCase}]{\setlength{\rightskip}{0pt plus 5cm}string Helper::str2UpperCase (const string \& {\em str})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_ae07f060871ece1f065a82afa201e779b}
Static helper method. Returns the given string in upper case. \hypertarget{classHelper_ae8648fd390b8435d8cd26cfcee334432}{
\index{Helper@{Helper}!unitCircleDistance@{unitCircleDistance}}
\index{unitCircleDistance@{unitCircleDistance}!Helper@{Helper}}
\subsubsection[{unitCircleDistance}]{\setlength{\rightskip}{0pt plus 5cm}float Helper::unitCircleDistance (vector$<$ float $>$ {\em py1}, \/  vector$<$ float $>$ {\em py2})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_ae8648fd390b8435d8cd26cfcee334432}
Returns the distance of two pairs of pitch and yaw by interpreting the given values as points on the unit circle. \hypertarget{classHelper_afa41ef859921304ac59f929d1fd2d198}{
\index{Helper@{Helper}!unitCirclePoint@{unitCirclePoint}}
\index{unitCirclePoint@{unitCirclePoint}!Helper@{Helper}}
\subsubsection[{unitCirclePoint}]{\setlength{\rightskip}{0pt plus 5cm}vector$<$ float $>$ Helper::unitCirclePoint (vector$<$ float $>$ {\em py}, \/  float {\em radius})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_afa41ef859921304ac59f929d1fd2d198}
Returns a point (x,y,z) on the unit circle for the given values of pitch an yaw. \hypertarget{classHelper_a595867363dc9fb28e03031b6c0137bf8}{
\index{Helper@{Helper}!unitCirclePoint@{unitCirclePoint}}
\index{unitCirclePoint@{unitCirclePoint}!Helper@{Helper}}
\subsubsection[{unitCirclePoint}]{\setlength{\rightskip}{0pt plus 5cm}vector$<$ float $>$ Helper::unitCirclePoint ({\bf EulerRotation} {\em er})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a595867363dc9fb28e03031b6c0137bf8}
Returns a point (x,y,z) on the unit circle for the given values of pitch an yaw. \hypertarget{classHelper_a116f977e6308bd37ce24793969b4492a}{
\index{Helper@{Helper}!unitCirclePoint@{unitCirclePoint}}
\index{unitCirclePoint@{unitCirclePoint}!Helper@{Helper}}
\subsubsection[{unitCirclePoint}]{\setlength{\rightskip}{0pt plus 5cm}vector$<$ float $>$ Helper::unitCirclePoint (vector$<$ float $>$ {\em py})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a116f977e6308bd37ce24793969b4492a}
Returns a point (x,y,z) on the unit circle for the given values of pitch an yaw. \hypertarget{classHelper_ae66525ac48753d71d802b053cd9d4178}{
\index{Helper@{Helper}!uSeconds@{uSeconds}}
\index{uSeconds@{uSeconds}!Helper@{Helper}}
\subsubsection[{uSeconds}]{\setlength{\rightskip}{0pt plus 5cm}unsigned long int Helper::uSeconds ()\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_ae66525ac48753d71d802b053cd9d4178}
Returns the microseconds since the last full second of \hyperlink{classHelper_a651de62f9290759d729df28b9f1d6c89}{seconds()}. \hypertarget{classHelper_a58eb1df824ee417e918d7066120886f7}{
\index{Helper@{Helper}!uSecondsSinceStart@{uSecondsSinceStart}}
\index{uSecondsSinceStart@{uSecondsSinceStart}!Helper@{Helper}}
\subsubsection[{uSecondsSinceStart}]{\setlength{\rightskip}{0pt plus 5cm}unsigned long int Helper::uSecondsSinceStart ()}}
\label{classHelper_a58eb1df824ee417e918d7066120886f7}
Returns the microseconds since the program has been started. This is comfortable but after running the program for more than an hour an overflow occurs. So be aware of this! \hypertarget{classHelper_ad2e619d55eeb5f2e727cb3fff1f16484}{
\index{Helper@{Helper}!vectorAngles@{vectorAngles}}
\index{vectorAngles@{vectorAngles}!Helper@{Helper}}
\subsubsection[{vectorAngles}]{\setlength{\rightskip}{0pt plus 5cm}{\bf EulerRotation} Helper::vectorAngles (const {\bf LimbCoordinates} \& {\em vec})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_ad2e619d55eeb5f2e727cb3fff1f16484}
Returns the euler angles of the given vector. Depends on the method angleBetweenVectors. The y rotation (roll) of the return value is always zero because there is no roll for a vector. \hypertarget{classHelper_a0437d2944cfd6dd6b446fe14940b0518}{
\index{Helper@{Helper}!vectorAngles2@{vectorAngles2}}
\index{vectorAngles2@{vectorAngles2}!Helper@{Helper}}
\subsubsection[{vectorAngles2}]{\setlength{\rightskip}{0pt plus 5cm}vector$<$ float $>$ Helper::vectorAngles2 (const {\bf LimbCoordinates} \& {\em vec})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a0437d2944cfd6dd6b446fe14940b0518}
Returns the pitch and yaw (azimuth) of the given vector. Depends on the method vectorAngles. The y rotation (roll) of the return value is always zero because there is no roll for a vector. \hypertarget{classHelper_abc864cbfae3b0021fec149776b4d2ce0}{
\index{Helper@{Helper}!vectorDifference@{vectorDifference}}
\index{vectorDifference@{vectorDifference}!Helper@{Helper}}
\subsubsection[{vectorDifference}]{\setlength{\rightskip}{0pt plus 5cm}{\bf LimbCoordinates} Helper::vectorDifference (const {\bf LimbCoordinates} \& {\em vec1}, \/  const {\bf LimbCoordinates} \& {\em vec2})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_abc864cbfae3b0021fec149776b4d2ce0}
Returns the difference vector of the two given vectors. result = vec1 -\/ vec2 \hypertarget{classHelper_a9d5e7130ec677185eed512648cea7753}{
\index{Helper@{Helper}!vectorLength@{vectorLength}}
\index{vectorLength@{vectorLength}!Helper@{Helper}}
\subsubsection[{vectorLength}]{\setlength{\rightskip}{0pt plus 5cm}float Helper::vectorLength (const {\bf LimbCoordinates} \& {\em vec})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a9d5e7130ec677185eed512648cea7753}
Returns the length of the given vector. \hypertarget{classHelper_a9a8b68baa1c84bf3886489e76c7d9951}{
\index{Helper@{Helper}!vectorProduct@{vectorProduct}}
\index{vectorProduct@{vectorProduct}!Helper@{Helper}}
\subsubsection[{vectorProduct}]{\setlength{\rightskip}{0pt plus 5cm}{\bf LimbCoordinates} Helper::vectorProduct (const {\bf LimbCoordinates} \& {\em vec1}, \/  const {\bf LimbCoordinates} \& {\em vec2})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_a9a8b68baa1c84bf3886489e76c7d9951}
Find vector product of the two given vectors. \hypertarget{classHelper_af01207ddd47379314a7b9f88ff2b656d}{
\index{Helper@{Helper}!vectorSum@{vectorSum}}
\index{vectorSum@{vectorSum}!Helper@{Helper}}
\subsubsection[{vectorSum}]{\setlength{\rightskip}{0pt plus 5cm}{\bf LimbCoordinates} Helper::vectorSum (const {\bf LimbCoordinates} \& {\em vec1}, \/  const {\bf LimbCoordinates} \& {\em vec2})\hspace{0.3cm}{\ttfamily  \mbox{[}static\mbox{]}}}}
\label{classHelper_af01207ddd47379314a7b9f88ff2b656d}
Returns the sum vector of the two given vectors. result = vec1 + vec2 

The documentation for this class was generated from the following files:\begin{DoxyCompactItemize}
\item 
Helper.h\item 
Helper.cpp\end{DoxyCompactItemize}
